Simplification of a Robot Task Specification by Incorporating a Structured Geometric Database into an Off-Line Robot Programming System

1988 ◽  
pp. 123-150 ◽  
Author(s):  
L. Van Aken ◽  
H. Van Brussel ◽  
J. De Schutter
Keyword(s):  
Robot Programming ◽  
Programming System ◽  
Robot Task ◽  
Task Specification

Automatic Programming System for Shipyard Robots

1997 ◽  
Vol 13 (02) ◽  
pp. 93-100
Author(s):  
Scott McGhee ◽  
Sivrama Nalluri ◽  
Ron Reeve ◽  
Robert Rongo ◽  
Fritz Prinz ◽  
...  
Keyword(s):  
Real World ◽  
Computer Aided Design ◽  
Simulation Software ◽  
Physical Models ◽  
Robot Programming ◽  
Programming System ◽  
Automatic Programming ◽  
The Real ◽  
Cad Models ◽  
Robot Task

The application of robots to variable tasks in unstructured environments presents a series of problems that must be solved in order to achieve viable results Common teaching-type robots cannot be applied in these cases as the programming time and labor investment far exceed the time and cost of direct manual production. Numerically controlled (NC) robots programmed off-line by modified NC methods have been applied with economic success to program robots directly from computer-aided design (CAD) data where tasks are sufficiently repetitive and the operating environment is sufficiently structured Similarly, off-line programming systems have been developed by various robot manufacturers to generate instructions from CAD data for their robots. Likewise, developers of 3D simulation software have devised methods to merge CAD data with physical models of robots and system hardware to produce robot path programs that approximate the tasks to be performed. Each of these systems is unable to provide a totally automated means to program robot tasks directly from CAD data due to inaccuracies in the real-world elements and/or the models, and due to a lack of knowledge about the processes. A new approach to automatic robot programming is needed that is capable of dealing with:inherent differences between the CAD models and the real-world parts;uncertainties regarding the precise location and accessibility of the parts relative to the robot:process knowledge required to adapt these differences and uncertainties; andprocess knowledge essential to optimizing robot activities. Such an automatic robot programming system is being developed to meet the dual-use defense and commercial ship construction needs of American shipyards under the Technology Reinvestment Project (TRP) for Shipbuilding Robotics. This system automates the programmer's task of identifying location of welds, assigning weld process parameters and adaptive welding strategies to each joint. A procedural diagram for this system is shown in Figure 1. The results and benefits of this approach are described herein. Fig. 1Procedure for automatic off-line robot task planning

The Design of General Off-Line Graphical Robot Programming System

2017 ◽  
Vol 9 (4) ◽  
pp. 343-352
Author(s):  
Zheng Zhang ◽  
Yonggang Peng ◽  
Yuhui Li
Keyword(s):  
Robot Programming ◽  
Programming System

scholarly journals Building the Foundation of Robot Explanation Generation Using Behavior Trees

2021 ◽  
Vol 10 (3) ◽  
pp. 1-31
Author(s):  
Zhao Han ◽  
Daniel Giger ◽  
Jordan Allspaw ◽  
Michael S. Lee ◽  
Henny Admoni ◽  
...  
Keyword(s):  
Autonomous Robots ◽  
Free Form ◽  
Static Structure ◽  
Simulation Code ◽  
Causal Information ◽  
Robot Behavior ◽  
Behavior Trees ◽  
Robot Task ◽  
Task Specification ◽  
Explanation Generation

As autonomous robots continue to be deployed near people, robots need to be able to explain their actions. In this article, we focus on organizing and representing complex tasks in a way that makes them readily explainable. Many actions consist of sub-actions, each of which may have several sub-actions of their own, and the robot must be able to represent these complex actions before it can explain them. To generate explanations for robot behavior, we propose using Behavior Trees (BTs), which are a powerful and rich tool for robot task specification and execution. However, for BTs to be used for robot explanations, their free-form, static structure must be adapted. In this work, we add structure to previously free-form BTs by framing them as a set of semantic sets {goal, subgoals, steps, actions} and subsequently build explanation generation algorithms that answer questions seeking causal information about robot behavior. We make BTs less static with an algorithm that inserts a subgoal that satisfies all dependencies. We evaluate our BTs for robot explanation generation in two domains: a kitting task to assemble a gearbox, and a taxi simulation. Code for the behavior trees (in XML) and all the algorithms is available at github.com/uml-robotics/robot-explanation-BTs.

PROGRESS--A graphical robot programming system

2005 ◽  
Author(s):  
A. Naylor ◽  
Lejun Shao ◽  
R. Volz ◽  
R. Jungclas ◽  
P. Bixel ◽  
...  
Keyword(s):  
Robot Programming ◽  
Programming System

Programming in Everyday Language: A Case for Email Management

2006 ◽  
Vol 10 (6) ◽  
pp. 821-829 ◽  
Author(s):  
Toru Sugimoto ◽  
◽  
Noriko Ito ◽  
Shino Iwashita ◽  
Michio Sugeno ◽  
...  
Keyword(s):  
Natural Language ◽  
Programming System ◽  
Computing Systems ◽  
Everyday Language ◽  
Program Generation ◽  
Management Domain ◽  
Natural Language Interface ◽  
Task Specification ◽  
Future Work ◽  
Email Management

We present a processing model of a natural language interface that accepts task specification texts consisting of more than one sentence. Such an interface enables users to easily specify complex requests as coherent texts, in other words, to write a program in everyday language, to operate computing systems. Corresponding to the characteristics of task specification texts, processing consists of paraphrasing, detection of loop structures, and executable program generation using rhetorical information. Algorithms have been fully implemented in our everyday language programming system that deals with personal email management tasks. In this paper, we explain our processing model using an example from the email management domain, give evaluation results, and discuss its effectiveness and future work.

401 Development of Robot Programming System using Game Boy : 2nd Report : Development of Tip Method Editor and Compiler

2006 ◽  
Vol 2006.41 (0) ◽  
pp. 149-150
Author(s):  
Takashi Sato ◽  
Takayuki Kon ◽  
Kazushi Kumagai ◽  
Tetsuya Ooizumi
Keyword(s):  
Robot Programming ◽  
Programming System

A graphical robot language developed in Japan

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 99-103 ◽  
Author(s):  
Tamio Arai ◽  
Toshiyuki Itoko ◽  
Hidetoshi Yago
Keyword(s):  
Graphical User Interface ◽  
Arc Welding ◽  
Industrial Robots ◽  
Robot Programming ◽  
Prototype System ◽  
Programming System ◽  
Graphical Interface ◽  
Welding Robot ◽  
Batch Production ◽  
User Friendly

A graphical robot programming system has been developed. This system with a graphical interface is user-friendly and easy-to-learn for low-skill users. It has been developed as a prototype system under a project by the Japan Robot Association (JARA) since 1994. The system runs on a personal computer and consists of a graphical user interface and an editing system. It is designed for programming an arc welding robot in small batch production and is expected to provide low-skill users with a means to use industrial robots with ease.

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